wbyates777/Articulated-Rigid-Body

Compact implementation of spatial algebra, and Featherstone's articulated-body algorithm (ABA), composite rigid body algorithm (CRBA), and the recursive Newton-Euler algorithm (RNEA) with end-to-end automatic differentiability (AD). Depends on STL, GLM and autodiff libraries.

语言：C++ · GitHub 星标：19 · Fork：1

话题：articulated-3d · articulated-body-algorithm · autodiff · automatic-differentiation · computer-graphics · cpp23 · crba · dynamics

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